Related papers: Realtime Active Sound Source Localization for Unma…
While deep-learning-based speaker localization has shown advantages in challenging acoustic environments, it often yields only direction-of-arrival (DOA) cues rather than precise two-dimensional (2D) coordinates. To address this, we propose…
To improve speech intelligibility in complex everyday situations, the human auditory system partially relies on Interaural Time Differences (ITDs) and Interaural Level Differences (ILDs). However, hearing impaired (HI) listeners often…
Recent advancements in quadruped robot research have significantly improved their ability to traverse complex and unstructured outdoor environments. However, the issue of noise generated during locomotion is generally overlooked, which is…
Accurate motion capture of aerial robots in 3-D is a key enabler for autonomous operation in indoor environments such as warehouses or factories, as well as driving forward research in these areas. The most commonly used solutions at…
Visual events are usually accompanied by sounds in our daily lives. We pose the question: Can the machine learn the correspondence between visual scene and the sound, and localize the sound source only by observing sound and visual scene…
Over the past decade, lidars have become a cornerstone of robotics state estimation and perception thanks to their ability to provide accurate geometric information about their surroundings in the form of 3D scans. Unfortunately, most of…
The present paper proposes a data-driven sensor selection method for a high-dimensional nondynamical system with strongly correlated measurement noise. The proposed method is based on proximal optimization and determines sensor locations by…
Augmented reality devices have the potential to enhance human perception and enable other assistive functionalities in complex conversational environments. Effectively capturing the audio-visual context necessary for understanding these…
Recent studies on learning-based sound source localization have mainly focused on the localization performance perspective. However, prior work and existing benchmarks overlook a crucial aspect: cross-modal interaction, which is essential…
This paper is on the normal approximation of singular subspaces when the noise matrix has i.i.d. entries. Our contributions are three-fold. First, we derive an explicit representation formula of the empirical spectral projectors. The…
Unmanned Aerial Vehicles (UAVs) are increasingly deployed in search-and-rescue (SAR) missions, yet continuous and reliable victim detection and localization remain challenging due to on-board hardware constraints. This paper designs an…
Recent advancements in 4D generation have demonstrated its remarkable capability in synthesizing photorealistic renderings of dynamic 3D scenes. However, despite achieving impressive visual performance, almost all existing methods overlook…
We propose the novel task of distance-based sound separation, where sounds are separated based only on their distance from a single microphone. In the context of assisted listening devices, proximity provides a simple criterion for sound…
The steered response power (SRP) method is one of the most popular approaches for acoustic source localization with microphone arrays. It is often based on simplifying acoustic assumptions, such as an omnidirectional sound source in the far…
First-shot (FS) unsupervised anomalous sound detection (ASD) is a brand-new task introduced in DCASE 2023 Challenge Task 2, where the anomalous sounds for the target machine types are unseen in training. Existing methods often rely on the…
Multiple microphone arrays have many applications in robot audition, including sound source localization, audio scene perception and analysis, etc. However, accurate calibration of multiple microphone arrays remains a challenge because…
Direction-of-arrival estimation of multiple speakers in a room is an important task for a wide range of applications. In particular, challenging environments with moving speakers, reverberation and noise, lead to significant performance…
As integrated sensing and communication (ISAC) capabilities become more prevalent in the mobile 6G radio landscape, there is a substantial opportunity to enhance situational awareness across diverse applications through multi-static radar…
Lidar odometry has attracted considerable attention as a robust localization method for autonomous robots operating in complex GNSS-denied environments. However, achieving reliable and efficient performance on heterogeneous platforms in…
The auditory system of humanoid robots has gained increased attention in recent years. This system typically acquires the surrounding sound field by means of a microphone array. Signals acquired by the array are then processed using various…